| If "action" is |
Then |
| MPIActionABORT or
MPIActionE_STOP or MPIActionE_STOP_ABORT |
the Motion will perform an emergency stop
and/or abort on all axes, and then change to the error state (MPIStateSTOPPING_ERROR
to MPIStateERROR). Before starting another Motion, you must first
make a call to mpiMotionAction(motion, MPIActionRESET). |
| MPIActionABORT |
MotionAction will disable the PID control
(or other algorithm), set the DAC output to the offset value, and
disable the amp enable outputs. After the abort completes, the Motion
will be set to the ERROR state . |
| MPIActionE_STOP |
MotionAction will decelerate the axis (or
axes) to a stop in the time specified by the "eStop" time. After the
Motion stops, the Motion will be set to the ERROR state. |
| MPIActionE_STOP_ABORT
|
MotionAction will decelerate the axis (or
axes) to a stop in the time specified by the "eStop" time. Next, MotionAction
will generate an MPIActionABORT. After the abort completes, the Motion
is set to the ERROR state. The E_STOP_ABORT first performs an E_STOP,
and then performs an ABORT. The E_STOP decelerates the axis to a stop,
then the ABORT disables PID control and disables the amp enable output. |
| MPIActionRESET |
if the Motion (motion) is in the error state
(MPIStateERROR), the Motion will change to the idle state (MPIStateIDLE),
so that motion can be restarted. If the error state was caused by
an Abort action, then the command position will be set equal to the
actual position during the Reset. |
| MPIActionRESUME |
if the Motion is in the idle state (MPIStateIDLE),
it will change to the moving state (MPIStateMOVING), and the Motion
will resume if it was stopped by a prior call to mpiMotionAction(motion,
MPIActionSTOP). |
| MPIActionSTOP |
if the Motion is in the moving state (MPIStateMOVING),
it will performing a stop on all axes and change to the idle state
(MPIStateSTOPPING to MPIStateIDLE). MPIActionSTOP decelerates the
axis (or axes) to a stop in the time specified by the "stop" time.
After the motion stops, the Motion is set to the ERROR state. |